CPlanarLaserScan.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#ifndef opengl_CPlanarLaserScan_H
#define opengl_CPlanarLaserScan_H

#include <mrpt/opengl/CRenderizableDisplayList.h>

#include <mrpt/maps/CMetricMap.h>
#include <mrpt/obs/CObservation.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/maps/CSimplePointsMap.h>
#include <mrpt/utils/TColor.h>

namespace mrpt
{
/** \ingroup mrpt_maps_grp */
namespace opengl
{
class CPlanarLaserScan;

/** This object renders a 2D laser scan by means of three elements: the points,
 * the line along end-points and the 2D scanned surface.
  *
  *  By default, all those three elements are drawn, but you can individually
 * switch them on/off with:
  *    - CPlanarLaserScan::enablePoints()
  *    - CPlanarLaserScan::enableLine()
  *    - CPlanarLaserScan::enableSurface()
  *
  *  To change the final result, more methods allow further customization of the
 * 3D object (color of each element, etc.).
  *
  *  The scan is passed or updated through CPlanarLaserScan::setScan()
  *
  *  <div align="center">
  *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px;
 * border-style: solid;">
  *   <tr> <td> mrpt::opengl::CPlanarLaserScan </td> <td> \image html
 * preview_CPlanarLaserScan.png </td> </tr>
  *  </table>
  *  </div>
  *
  *  \note The laser points are projected at the sensor pose as given in the
 * "scan" object, so this CPlanarLaserScan object should be placed at the exact
 * pose of the robot coordinates origin.
  *
  *  \sa mrpt::opengl::CPointCloud, opengl::COpenGLScene
  * \ingroup mrpt_maps_grp
  */
class CPlanarLaserScan : public CRenderizableDisplayList
{
        DEFINE_SERIALIZABLE(CPlanarLaserScan)
   protected:
        mrpt::obs::CObservation2DRangeScan m_scan;
        mutable mrpt::maps::CSimplePointsMap m_cache_points;
        mutable bool m_cache_valid;

        float m_line_width;
        float m_line_R, m_line_G, m_line_B, m_line_A;

        float m_points_width;
        float m_points_R, m_points_G, m_points_B, m_points_A;

        float m_plane_R, m_plane_G, m_plane_B, m_plane_A;

        bool m_enable_points;
        bool m_enable_line;
        bool m_enable_surface;

   public:
        /**< Clear the scan */
        void clear();

        /** Show or hides the scanned points \sa sePointsWidth, setPointsColor*/
        inline void enablePoints(bool enable = true)
        {
                m_enable_points = enable;
                CRenderizableDisplayList::notifyChange();
        }

        /** Show or hides lines along all scanned points \sa setLineWidth,
         * setLineColor*/
        inline void enableLine(bool enable = true)
        {
                m_enable_line = enable;
                CRenderizableDisplayList::notifyChange();
        }

        /** Show or hides the scanned area as a 2D surface \sa setSurfaceColor */
        inline void enableSurface(bool enable = true)
        {
                m_enable_surface = enable;
                CRenderizableDisplayList::notifyChange();
        }

        void setLineWidth(float w) { m_line_width = w; }
        float getLineWidth() const { return m_line_width; }
        void setPointsWidth(float w) { m_points_width = w; }
        void setLineColor(float R, float G, float B, float A = 1.0f)
        {
                m_line_R = R;
                m_line_G = G;
                m_line_B = B;
                m_line_A = A;
        }
        void setPointsColor(float R, float G, float B, float A = 1.0f)
        {
                m_points_R = R;
                m_points_G = G;
                m_points_B = B;
                m_points_A = A;
        }
        void setSurfaceColor(float R, float G, float B, float A = 1.0f)
        {
                m_plane_R = R;
                m_plane_G = G;
                m_plane_B = B;
                m_plane_A = A;
        }

        void setScan(const mrpt::obs::CObservation2DRangeScan& scan)
        {
                CRenderizableDisplayList::notifyChange();
                m_cache_valid = false;
                m_scan = scan;
        }

        /** Render
          */
        void render_dl() const override;

        void getBoundingBox(
                mrpt::math::TPoint3D& bb_min,
                mrpt::math::TPoint3D& bb_max) const override;

        /** Constructor
          */
        CPlanarLaserScan();

        /** Private, virtual destructor: only can be deleted from smart pointers */
        virtual ~CPlanarLaserScan() {}
};

}  // end namespace
}  // End of namespace
#endif